Flat Hollow Shaft AC Servo Motor HMA Series New high-performance hollow-shaft servo motors are available in five sizes. Flat design features a large through-hole to allow cables, shafts or lasers to pass through the axis of rotation.
Features Hollow shaft design to pass cables, pipes or lasers through the axis of rotation Flat design Five models with rated output from 163 to 13 W Optional brake available without change in dimensions Hollow Shaft Design Brake (option) Motor Shaft Material: Stainless Steel Motor Flange Material: Aluminum Absolute Encoder
Ordering Code HMA B 9 A 1 S17b A C SP (1) () (3) (4) (5) (6) (7) (8) (9) (1) (11) (1) Model Name AC servo motor HMA series () Motor Version Symbol A: Size 1A B: Size 9, 1, 15 C: Size 8 (3) Size 8, 9, 1, 15, 1A (4) Brake A: Without brake B: With brake (6) Encoder Format 1: A-format.5 Mbps, 1:1 connection (7) Encoder Resolution S17b: 17-bit absolute encoder (8) Encoder Phase Angle (9) Connector Specification Phase difference between the motor U phase and the encoder origin A: degrees C : With standard connectors N : Without connectors (5) Applied Servo Driver Input Voltage 1: 1 VAC (Only size 9 is compatible with 1 VAC) : VAC (1) Option Symbols Y : Side exiting cable (11) Special Specifications No symbol: Standard product SP: Special specification code Option: Side Exit Cable (Option: Y) Cables (motor and encoder cable) exit from the side of the motor. Use this option when there is not enough space in the rear of housing when installing a motor. For size 8, contact us. Size 1A is not compatible. Side Exit Cable 3
Motor Specifications Item Model HMAC8 HMAB9 HMAB1 HMAB15 HMAA1A Combined driver HA-8-3D- HA-8-3D- HA-8-6D-E-1 HA-8-6D-E- HA-8-4D-E- HA-8-4D-E- Input power supply voltage V 1 Rated output W 163 51 46 754 13 Instantaneous maximum *1 torque N m 1.8 3. 6.6 13 33 Rated torque *1, * N m.5.8 1.55 3.6 1.6 Maximum speed *1 rpm 6, 5,6 4,8 4,8 4, 3, Rated speed rpm 3, 3,,5, 1, Instantaneous maximum *1 A 6.5 8.9 15.4 18 9 55 current Rated current *1, * A rms.1.5 4.3 4. 7.8. Torque constant 1 N m/a rms.35.41.4.44.54.7 EMF constant *3 V/(rpm).37.43.5.46.57.75 Phase resistance ( C) Ω 1.43 1..4.33.19.8 Phase inductance mh.5 3. 1. 1.4 1..9 Moment of Inertia ( ) indicates with brake Allowable radial load (static) Allowable axial load (static) Rated radial load (At the rated speed) Rated axial load (At the rated speed) GD /4 1-4 kg m.734 (.88) J 1-4 kgf cm s 7.49 (8.45) 1.78 (.16) 18. (.1) 6.45 (6.83) 65.8 (69.7) 15.8 (19.8) N 8 8 1 4 45 kgf 81.6 81.6 1 45 459 161 () 15 (141) 18 (1444) N 19 4 36 5 14 kgf 194 45 367 51 149 N 175 185 33 53 14 kgf 17.9 18.9 3.8 54.1 16.1 N 1 15 13 18 88 kgf 1. 1.7 13.3 18.4 89.8 Encoder type Encoder resolution capability Single turn motor revolution Absolute encoder 17 (131,7) Multi-turn revolution counter *4 16 (65,536) Weight ( ) indicates with brake kg 1.4 (1.5). (.1) 3.4 (3.8) 5.5 (6.) 17.5 (19.7) Ambient environment specification Motor insulation Mounting Direction Protection structure Operating temperature: to 4 C/Storage temperature: - to 6 C Operating/storage humidity: to 8% RH (non-condensing) Vibration resistance: 5 m/s (frequency: 1 to 4 Hz) / impact resistance: 3 m/s Vibration resistance: 5 m/s (frequency: 1 to 4 Hz) / impact resistance: 3 m/s No dust, metal powder, corrosive gas, flammable gas, oil mist, or other similar material. Place indoors without being exposed to direct sunlight. Altitude: 1, m or less Insulation resistance: 1 MΩ (5 VDC) or higher Dielectric strength voltage: 15 VAC/min Insulation class: A Can be installed in any direction Totally enclosed self-cooled type (IP54) The values in the table above show typical values. *1: When tested with HA-8. *: This is the value for saturated temperature when installed on the next aluminum heatsink of the following size: HMAC8: 3 x 3 x 16 [mm], HMAB9: 35 x 35 x 18 [mm], HMAB1: 4 x 4 x [mm], HMAB15: 5 x 5 x 5 [mm], HMAA1A: 65 x 65 x 3 [mm] *3: This is the value of the phase EMF constant multiplied by 3. *4: The range of the multi revolution counter is from -3,768 to 3,767. 4
Operable Range HMAC8 HMAB9 * The dashed line indicates 1-VAC specifications. Heatsink: 3 x 3 x 16 [mm] 3.5 Heatsink: 35 x 35 x 18 [mm] 1.8 1.6 3 1.4 1. 1..8.6.5 1.5 1..4. Continuous motion range 1 3 4 5 6 7.5 Continuous motion range 1 3 4 5 6 Speed [rpm] Speed [rpm] HMAB1 HMAB15 8 Heatsink: 4 x 4 x [mm] 14 Heatsink: 5 x 5 x 5 [mm] 7 1 6 1 5 4 3 8 6 4 1 Continuous motion range 1 3 4 5 6 Speed rpm] Continuous motion range 5 1 15 5 3 35 4 45 Speed [rpm] HMAA1A 35 Heatsink: 65 x 65 x 3 [mm] 3 5 15 1 5 Continuous motion range 5 1 15 5 3 35 Speed [rpm] 5
Outline Dimensions 4-N K-φL P 45 φm φj φa φc φd φe φf G H I B Dimension HMAC8 HMAB9 HMAB1 HMAB15 HMAA1A φa 94 114 146 175 47 B 89 88.5 95.5 11 157 φc 75 h7 9 h7 114 h7 14 h7 h7 φd 8 h6 34 h6 43 h6 59 h6 88 h6 φe (hollow diameter) 16 3 4 6 φf 77 h7 94 h7 1 h7 145 h7 1 h7 G 5 5 5 6 8 H 5 5 5 5 8 I 13 13 15 19 39 φj 84 1 13 158 6 K 6 6 6 6 8 φl 3.4 4.5 5.5 6.6 9. φm 8 36 5 74 N M3X6 M3X6 M3X6 M4X8 M5X1 P Φ3 H7X5 Φ3 H7X5 Φ3 H7X5 Φ4 H7X7 Φ5 H7X8 (Unit: mm) 6
Mechanical Accuracy 5 A A 6 A 1 3 A 4 A Accuracy Item HMAC8 HMAB9 HMAB1 HMAB15 HMAA1A 1. Output shaft surface runout....4.4. Output shaft radial runout....4.4 3. Mounting surface squareness to the output shaft.8.8.8.9.1 4. Mounting surface squareness to the output shaft.6.65.65.85.9 5. Concentricity between the output shaft and actuator mounting diameter.5.5.5.5.6 6. Concentricity between the output shaft and actuator mounting diameter.45.45.45.55.65 (Unit :mm) 7
Harmonic Drive LLC US Headquarters 47 Lynnfield Street Peabody, MA 196 New York Sales Office 1 Motor Parkway, Suite 116 Hauppauge, NY 11788 California Sales Office 333 W. San Carlos Street, Suite 17 San Jose, CA 9511 Chicago Sales Office 137 N. Oak Park Ave., Suite 41 Oak Park, IL 631 T: 8.91.333 T: 978.53.18 F: 978.53.946 www.harmonicdrive.net Group Companies Harmonic Drive Systems, Inc. 6-5-3 Minami-Ohi, Shinagawa-ku Tokyo 141-13, Japan Harmonic Drive AG Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany Harmonic Drive is a registered trademark of Harmonic Drive LLC. Rev 18719